Created a nonlinear "AntiFactor" to perform downdating
Stephen Williams
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918019c605
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file AntiFactor.h
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* @author Stephen Williams
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**/
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#pragma once
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#include <ostream>
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#include <gtsam/nonlinear/NonlinearFactor.h>
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#include <gtsam/linear/GaussianFactor.h>
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namespace gtsam {
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/**
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* A class for a measurement predicted by "between(config[key1],config[key2])"
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* KEY1::Value is the Lie Group type
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* T is the measurement type, by default the same
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*/
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template<class VALUES>
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class AntiFactor: public NonlinearFactor<VALUES> {
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private:
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typedef AntiFactor<VALUES> This;
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typedef NonlinearFactor<VALUES> Base;
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typedef typename NonlinearFactor<VALUES>::shared_ptr sharedFactor;
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sharedFactor factor_;
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public:
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// shorthand for a smart pointer to a factor
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typedef typename boost::shared_ptr<AntiFactor> shared_ptr;
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/** default constructor - only use for serialization */
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AntiFactor() {}
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/** constructor - Creates the equivalent AntiFactor from an existing factor */
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AntiFactor(typename NonlinearFactor<VALUES>::shared_ptr factor) : Base(factor->begin(), factor->end()), factor_(factor) {}
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virtual ~AntiFactor() {}
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/** implement functions needed for Testable */
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/** print */
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virtual void print(const std::string& s) const {
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std::cout << s << "AntiFactor version of:" << std::endl;
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factor_->print(s);
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}
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/** equals */
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virtual bool equals(const NonlinearFactor<VALUES>& expected, double tol=1e-9) const {
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const This *e = dynamic_cast<const This*> (&expected);
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return e != NULL && Base::equals(*e, tol) && this->factor_->equals(*e->factor_, tol);
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}
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/** implement functions needed to derive from Factor */
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/**
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* Calculate the error of the factor
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* This is typically equal to log-likelihood, e.g. 0.5(h(x)-z)^2/sigma^2 in case of Gaussian.
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* You can override this for systems with unusual noise models.
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*/
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double error(const VALUES& c) const { return -factor_->error(c); }
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/** get the dimension of the factor (number of rows on linearization) */
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size_t dim() const { return factor_->dim(); }
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/**
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* Checks whether a factor should be used based on a set of values.
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* This is primarily used to implment inequality constraints that
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* require a variable active set. For all others, the default implementation
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* returning true solves this problem.
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*
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* In an inequality/bounding constraint, this active() returns true
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* when the constraint is *NOT* fulfilled.
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* @return true if the constraint is active
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*/
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bool active(const VALUES& c) const { return factor_->active(c); }
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/** linearize to a GaussianFactor */
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boost::shared_ptr<GaussianFactor>
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linearize(const VALUES& c, const Ordering& ordering) const {
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// Generate the linearized factor from the contained nonlinear factor
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GaussianFactor::shared_ptr gaussianFactor = factor_->linearize(c, ordering);
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// Cast the GaussianFactor to a Hessian
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HessianFactor::shared_ptr hessianFactor = boost::dynamic_pointer_cast<HessianFactor>(gaussianFactor);
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// If the cast fails, convert it to a Hessian
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if(!hessianFactor){
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hessianFactor = HessianFactor::shared_ptr(new HessianFactor(*gaussianFactor));
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}
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// Copy Hessian Blocks from Hessian factor and invert
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std::vector<Index> js;
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std::vector<Matrix> Gs;
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std::vector<Vector> gs;
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double f;
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js.insert(js.end(), hessianFactor->begin(), hessianFactor->end());
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for(size_t i = 0; i < js.size(); ++i){
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for(size_t j = i; j < js.size(); ++j){
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Gs.push_back( -hessianFactor->info(hessianFactor->begin()+i, hessianFactor->begin()+j) );
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}
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gs.push_back( -hessianFactor->linearTerm(hessianFactor->begin()+i) );
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}
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f = -hessianFactor->constantTerm();
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// Create the Anti-Hessian Factor from the negated blocks
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return HessianFactor::shared_ptr(new HessianFactor(js, Gs, gs, f));
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}
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private:
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/** Serialization function */
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friend class boost::serialization::access;
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template<class ARCHIVE>
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void serialize(ARCHIVE & ar, const unsigned int version) {
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ar & boost::serialization::make_nvp("AntiFactor",
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boost::serialization::base_object<Base>(*this));
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ar & BOOST_SERIALIZATION_NVP(factor_);
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}
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}; // \class AntiFactor
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} /// namespace gtsam
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@ -26,6 +26,8 @@ check_PROGRAMS += tests/testSimulated3D
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# Generic SLAM headers
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# Generic SLAM headers
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headers += BetweenFactor.h PriorFactor.h PartialPriorFactor.h
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headers += BetweenFactor.h PriorFactor.h PartialPriorFactor.h
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headers += BearingFactor.h RangeFactor.h BearingRangeFactor.h
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headers += BearingFactor.h RangeFactor.h BearingRangeFactor.h
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headers += AntiFactor.h
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check_PROGRAMS += tests/testAntiFactor
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# Generic constraint headers
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# Generic constraint headers
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headers += BoundingConstraint.h
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headers += BoundingConstraint.h
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@ -0,0 +1,139 @@
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file testAntiFactor.cpp
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* @brief Unit test for the AntiFactor
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* @author Stephen Williams
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*/
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/slam/pose3SLAM.h>
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#include <gtsam/slam/AntiFactor.h>
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#include <gtsam/nonlinear/NonlinearFactorGraph.h>
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#include <gtsam/nonlinear/NonlinearOptimizer.h>
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#include <gtsam/linear/GaussianSequentialSolver.h>
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#include <gtsam/geometry/Pose3.h>
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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TEST( AntiFactor, NegativeHessian)
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{
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// The AntiFactor should produce a Hessian Factor with negative matrices
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// Create linearization points
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Pose3 pose1(Rot3(), Point3(0, 0, 0));
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Pose3 pose2(Rot3(), Point3(2, 1, 3));
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Pose3 z(Rot3(), Point3(1, 1, 1));
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SharedNoiseModel sigma(noiseModel::Unit::Create(Pose3::Dim()));
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// Create a configuration corresponding to the ground truth
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boost::shared_ptr<pose3SLAM::Values> values(new pose3SLAM::Values());
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values->insert(1, pose1);
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values->insert(2, pose2);
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// Define an elimination ordering
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Ordering::shared_ptr ordering(new Ordering());
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ordering->insert(pose3SLAM::Key(1), 0);
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ordering->insert(pose3SLAM::Key(2), 1);
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// Create a "standard" factor
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BetweenFactor<pose3SLAM::Values,pose3SLAM::Key>::shared_ptr originalFactor(new BetweenFactor<pose3SLAM::Values,pose3SLAM::Key>(1, 2, z, sigma));
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// Linearize it into a Jacobian Factor
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GaussianFactor::shared_ptr originalJacobian = originalFactor->linearize(*values, *ordering);
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// Convert it to a Hessian Factor
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HessianFactor::shared_ptr originalHessian = HessianFactor::shared_ptr(new HessianFactor(*originalJacobian));
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// Create the AntiFactor version of the original nonlinear factor
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AntiFactor<pose3SLAM::Values>::shared_ptr antiFactor(new AntiFactor<pose3SLAM::Values>(originalFactor));
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// Linearize the AntiFactor into a Hessian Factor
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GaussianFactor::shared_ptr antiGaussian = antiFactor->linearize(*values, *ordering);
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HessianFactor::shared_ptr antiHessian = boost::dynamic_pointer_cast<HessianFactor>(antiGaussian);
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// Compare Hessian blocks
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size_t variable_count = originalFactor->size();
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for(size_t i = 0; i < variable_count; ++i){
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for(size_t j = i; j < variable_count; ++j){
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Matrix expected_G = -originalHessian->info(originalHessian->begin()+i, originalHessian->begin()+j);
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Matrix actual_G = antiHessian->info(antiHessian->begin()+i, antiHessian->begin()+j);
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CHECK(assert_equal(expected_G, actual_G, 1e-5));
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}
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Vector expected_g = -originalHessian->linearTerm(originalHessian->begin()+i);
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Vector actual_g = antiHessian->linearTerm(antiHessian->begin()+i);
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CHECK(assert_equal(expected_g, actual_g, 1e-5));
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}
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double expected_f = -originalHessian->constantTerm();
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double actual_f = antiHessian->constantTerm();
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EXPECT_DOUBLES_EQUAL(expected_f, actual_f, 1e-5);
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}
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/* ************************************************************************* */
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TEST( AntiFactor, EquivalentBayesNet)
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{
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// Test the AntiFactor by creating a simple graph and eliminating into a BayesNet
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// Then add an additional factor and the corresponding AntiFactor and eliminate
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// The resulting BayesNet should be identical to the first
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Pose3 pose1(Rot3(), Point3(0, 0, 0));
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Pose3 pose2(Rot3(), Point3(2, 1, 3));
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Pose3 z(Rot3(), Point3(1, 1, 1));
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SharedNoiseModel sigma(noiseModel::Unit::Create(Pose3::Dim()));
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boost::shared_ptr<pose3SLAM::Graph> graph(new pose3SLAM::Graph());
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graph->addPrior(1, pose1, sigma);
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graph->addConstraint(1, 2, pose1.between(pose2), sigma);
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// Create a configuration corresponding to the ground truth
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boost::shared_ptr<pose3SLAM::Values> values(new pose3SLAM::Values());
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values->insert(1, pose1);
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values->insert(2, pose2);
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// Define an elimination ordering
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Ordering::shared_ptr ordering = graph->orderingCOLAMD(*values);
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// Eliminate into a BayesNet
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GaussianSequentialSolver solver1(*graph->linearize(*values, *ordering));
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GaussianBayesNet::shared_ptr expectedBayesNet = solver1.eliminate();
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// Back-substitute to find the optimal deltas
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VectorValues expectedDeltas = optimize(*expectedBayesNet);
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// Add an additional factor between Pose1 and Pose2
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pose3SLAM::Constraint::shared_ptr f1(new pose3SLAM::Constraint(1, 2, z, sigma));
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graph->push_back(f1);
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// Add the corresponding AntiFactor between Pose1 and Pose2
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AntiFactor<pose3SLAM::Values>::shared_ptr f2(new AntiFactor<pose3SLAM::Values>(f1));
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graph->push_back(f2);
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// Again, Eliminate into a BayesNet
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GaussianSequentialSolver solver2(*graph->linearize(*values, *ordering));
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GaussianBayesNet::shared_ptr actualBayesNet = solver2.eliminate();
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// Back-substitute to find the optimal deltas
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VectorValues actualDeltas = optimize(*actualBayesNet);
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// Verify the BayesNets are identical
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CHECK(assert_equal(*expectedBayesNet, *actualBayesNet, 1e-5));
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CHECK(assert_equal(expectedDeltas, actualDeltas, 1e-5));
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}
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
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/* ************************************************************************* */
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